In a small bowl, mix yeast in the warm water and set aside.
In a large bowl mix milk, sugar, melted butter, salt and egg. Add 2 cups of flour and mix until smooth.
Then add yeast mixture. Mix in remaining flour until dough is easy to handle.
Knead dough on lightly floured surface for 5 to 10 minutes. Place in well-greased bowl, cover and let rise until doubled in size, usually 1 to 1 1/2 hours.
When doubled in size, punch down the dough. Roll out on a floured surface into a 15 by 9-inch rectangle.
Spread melted butter all over dough. Mix sugar and cinnamon and sprinkle over buttered dough. Sprinkle with walnuts, pecans, or raisins if you want. Beginning at the 15-inch side, role up dough and pinch edge together to seal. Cut into 12 to 15 slices.
Coat the bottom of baking pan with butter and sprinkle with sugar. Place cinnamon roll slices close together in the pan and let rise until dough is doubled, about 45 minutes.
Bake for about 30 minutes or until nicely browned.
When the rolls are slightly cooled, add any glaze that you like, and enjoy!